CN108195497A - A kind of in-orbit friction torque test method of kinetic pressure air-float bearing of inner - Google Patents
A kind of in-orbit friction torque test method of kinetic pressure air-float bearing of inner Download PDFInfo
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- CN108195497A CN108195497A CN201711225104.2A CN201711225104A CN108195497A CN 108195497 A CN108195497 A CN 108195497A CN 201711225104 A CN201711225104 A CN 201711225104A CN 108195497 A CN108195497 A CN 108195497A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0009—Force sensors associated with a bearing
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Abstract
The present invention relates to a kind of in-orbit friction torque test methods of kinetic pressure air-float bearing of inner, belong to inertia type instrument parameter measurement field, the kinetic pressure air-float bearing of inner friction torque test method is applied in the control law design using the permanent magnet synchronous motor of kinetic pressure air-float bearing of inner, is a kind of test method to kinetic pressure air-float bearing of inner moment of friction in permanent magnet synchronous motor.The method of the present invention includes the following steps：(1) kinetic pressure air-float bearing of inner moment of friction hypothesized model is established；(2) kinetic pressure air-float bearing of inner friction torque test experiment flow and data acquisition modes are formulated；(3) moment of friction model is recognized according to experimentation data；(4) final moment of friction model and parameter are determined；(5) invers verification carried out with test data of experiment using determining moment of friction model, compared.
Description
Technical field
The present invention relates to a kind of in-orbit friction torque test methods of kinetic pressure air-float bearing of inner, belong to inertia type instrument parameter measurement neck
Domain.
Background technology
Kinetic pressure air-float bearing of inner refers to be formed the bearing of self-lubricating air film with passive source gas, which passes through bearing match surface
Circumferentially opposite movement, certain pressure is generated in bearing clearance and carrys out holding load, due to not having machine during bearing high speed rotation
Tool contacts, it is achieved that the long-life of continuous operation, while it has been greatly reduced the noise level of bearing.Based on above two
Point, have the long-life, low noise requirement mechanical gyro in permanent magnet synchronous electric machine bearing be all intended to using kinetic pressure air-float bearing of inner.Machine
Motor in tool gyro is using the permanent magnet synchronous motor based on kinetic pressure air-float bearing of inner, the permanent magnet synchronous motor in gyroscope body structure
Positioned at float center, control signal is transmitted by conductive hairspring, in order to reduce balance spring quantity, while does not increase additional gyro
Body dimension, mechanical gyro permanent magnet synchronous motor do not install rotating speed measuring sensor, and mechanical gyro itself cannot provide motor
Press the rotary speed information of air-bearing.In order to obtain the rotary speed information of motor kinetic pressure air-float bearing of inner, need to utilize certain of motor in itself
A little rotary speed informations of the electric parameter as motor kinetic pressure air-float bearing of inner.
At present using more mature motor kinetic pressure air-float bearing of inner rotary speed information measuring method be based on motor three-phase around
The zero passage detection method of the counter electromotive force of group.Although the zero crossing detection of back EMF method based on motor three-phase windings is simple,
But a disadvantage is that motor can not be correctly obtained back-emf signal when rotating speed is relatively low or static, motor action pneumatic can not be known
The rotary speed information that floating axle is held.Therefore, design specialized is needed without position motors control method using zero crossing detection of back EMF
Electric motor starting strategy, when rotor rotating speed is higher, winding back-emf signal stabilization is when establishing, then using back-emf zero passage
Detection method provides the rotary speed information information of motor kinetic pressure air-float bearing of inner for the closed-loop control of motor.
Because permanent magnet synchronous motor when rotating speed is relatively low or static, can not know the rotating speed letter of motor kinetic pressure air-float bearing of inner
Breath, so the startup strategy of permanent magnet synchronous motor needs to take the open-loop start-up strategy of no-rotor position information.Turned according to motor
The kinetics equation of son it is found that the open-loop start-up strategy of motor need according to the moment of friction rule of motor kinetic pressure air-float bearing of inner into
Row design.Therefore the kinetic pressure air-float bearing of inner moment of friction for obtaining mechanical gyro is the design of permanent magnet synchronous motor open-loop start-up strategy
Basis.This method designs a kind of measuring method of kinetic pressure air-float bearing of inner moment of friction, woth no need to which additional special measurement is taken to set
It is standby, experimental data is slided by the shutdown of in-orbit permanent magnet synchronous motor, using numerical computation method and parameter identification method, is obtained
The moment of friction mathematical model of mechanical gyro kinetic pressure air-float bearing of inner, the open-loop start-up strategy design for permanent magnet synchronous motor provide reason
By support.
Invention content
The technology of the present invention solves the problems, such as：Overcome the deficiencies in the prior art, the present invention provides a kind of action pneumatic floating axles
In-orbit friction torque test method is held, the moment of friction for kinetic pressure air-float bearing of inner still provides the moment of friction mathematical model of parsing,
The measurement of friction torque of kinetic pressure air-float bearing of inner is needed through special test equipment, and this method passes through reality without special test equipment
Data processing is tested, the mathematical model of accurate kinetic pressure air-float bearing of inner moment of friction can be obtained；This method realizes simple, model standard
Really.
The technical solution adopted in the present invention is：A kind of in-orbit friction torque test method of kinetic pressure air-float bearing of inner, including step
It is rapid as follows：
(1) mathematical model M (ω)=α of the moment of friction M of kinetic pressure air-float bearing of inner rotational speed omega and kinetic pressure air-float bearing of inner is establishedn
ωn+αn-1ωn-1+……+α1ω, n=1,2 ..., 10；
(2) according to the mathematical modulo established in the kinetics equation of the permanent magnet synchronous motor of kinetic pressure air-float bearing of inner and step (1)
Type formulates friction torque test experiment flow and data acquisition modes；
Friction torque test experiment flow is：Open permanent magnet synchronous motor, permanent magnet synchronous motor operation by setting when
Between after section, permanent magnet synchronous motor is closed, using being then turned on permanent magnet synchronous motor after the period of setting；Repeat above-mentioned reality
Test flow several times；
Data acquisition modes are：In using in the period for setting, the permanent magnet synchronous motor after being closed to permanent magnet synchronous motor
Rotating speed is acquired；
(3) the permanent magnet synchronous motor rotary speed data after being closed according to the permanent magnet synchronous motor acquired in step (2), using number
The parameter identification method of value calculating method and least square picks out the moment of friction model parameter of kinetic pressure air-float bearing of inner；
(4) according to the parameter identification method of step (3), obtain respectively n be equal to 10,9 ..., 2,1 when moment of friction mathematics
Model parameter；
(5) mathematical model picked out according to step (4), using experiment measured data digital simulation degree error E；
(6) the degree of fitting error E calculated according to step (5) determines the exponent number of final moment of friction mathematical model, determines most
Whole moment of friction mathematical model；
(7) the moment of friction mathematical model determined according to step (6) according to the kinetics equation that step (3) describes, carries out
Mathematics resolves, and the permanent magnet synchronous motor rotary speed data after the permanent magnet synchronous motor closing with being acquired in step (2) is compared,
Verify that mathematics resolves the permanent magnet synchronous motor rotary speed data the result is that after the permanent magnet synchronous motor of acquisition is closed in no and step (2)
Unanimously.
The friction torque test experiment flow and data acquisition modes that the step (2) is formulated be specially：
Friction torque test experiment flow is：Permanent magnet synchronous motor is opened, waits for permanent magnet synchronous motor operation after five minutes,
Permanent magnet synchronous motor is closed, then is waited for 5 minutes；The above-mentioned experiment flow of repetition 10 times；
Sampling period is set as 25ms；
The kinetics equation of the permanent magnet synchronous motor of kinetic pressure air-float bearing of inner is in the step (2)：
Wherein, TeFor electromagnetic torque, J is the rotary inertia of permanent magnet synchronous motor.
The specific method of the step (3) is：
When permanent magnet synchronous motor is closed, electromagnetic torque Te=0, kinetics equation is reduced to：
It can be obtained using numerical computation method：
It can be obtained according to least-squares parameter discrimination method：
Wherein, m is collected data amount check in step (2)；I=1,2,3 ..., m.
Use in the step (5) test the specific method of measured data digital simulation degree error E for；
According to the mathematical model that step (4) picks out, calculated using equation below and obtain n group degree of fitting error Es：
Wherein, ωiFor the experiment sampled data in step (2), M (ωi) it is the moment of friction picked out according to step (4)
The real-time moment of friction that calculates of mathematical model.
The step (6) determines the specific method of the exponent number of final moment of friction mathematical model according to degree of fitting error
For：
Step 6.1：The curve between exponent number n and degree of fitting error is drawn, exponent number n is abscissa, and degree of fitting error E is vertical
Coordinate；
Step 6.2：Determine stable region of the degree of fitting error with exponent number n, stable region be defined as [0.998a,
1.002a]；A is degree of fitting error stationary value；Degree of fitting error stationary value refers to when degree of fitting error tends towards stability with exponent number n variations
When the degree of fitting average error that acquires；
Step 6.3：It will be as the exponent number of moment of friction mathematical model by the minimal order n for entering stable region.
Compared with the prior art, the invention has the advantages that：
(1) the in-orbit friction torque test method of kinetic pressure air-float bearing of inner of the invention can be to permanent magnet synchronous electric in mechanical gyro
The moment of friction model of machine kinetic pressure air-float bearing of inner carries out identification and determines；Without additional special measurement equipment, it is only necessary to dynamic
The in-orbit rotating speed taxi data of pressure air-bearing can carry out determining for moment of friction；
(2) a kind of in-orbit friction torque test method of kinetic pressure air-float bearing of inner of the invention is without formulating complicated experiment side
Case, it is only necessary to which determining for moment of friction can be carried out by obtaining the rotating speed taxi data of kinetic pressure air-float bearing of inner after motor is closed；
(3) a kind of in-orbit friction torque test method of kinetic pressure air-float bearing of inner of the invention is not limited to be surveyed on space orbit
Amount, can also be generalized on ground and use；Present invention is also not necessarily limited to the measurement of friction torque of kinetic pressure air-float bearing of inner in mechanical gyro,
Can also be generalized to it is any using measurement of friction torque of the kinetic pressure air-float bearing of inner as spring bearing, it is versatile；
(4) a kind of in-orbit friction torque test method of kinetic pressure air-float bearing of inner of the invention can simplify kinetic pressure air-float bearing of inner and rub
It wipes the measurement process of torque, reduce experimental cost；Kinetic pressure air-float bearing of inner measurement of friction torque procedure is simple, and that measures rubs
It is accurate, reliable to wipe moment model.
Description of the drawings
Fig. 1 is the test method implementation steps schematic diagram of the present invention；
Fig. 2 is the flow chart of the friction torque test experiment of the present invention；
Fig. 3, which is that the kinetic pressure air-float bearing of inner of the present invention is in-orbit, slides speed curves；
Fig. 4 is the degree of fitting error curve of different model orders that the method for the present invention picks out；
Fig. 5 is that the method for the present invention picks out the invers verification curve of moment of friction model.
Specific embodiment
According to the kinetics equation of rotor it is found that the open-loop start-up strategy of motor is needed according to motor action pneumatic floating axle
The moment of friction rule held is designed.Therefore the kinetic pressure air-float bearing of inner moment of friction for obtaining mechanical gyro is permanent magnet synchronous motor
The basis of open-loop start-up strategy design.This method designs a kind of measuring method of kinetic pressure air-float bearing of inner moment of friction, woth no need to adopt
Additional special measurement equipment is taken, experimental data is slided by the shutdown of in-orbit permanent magnet synchronous motor, using numerical computation method
And parameter identification method, the moment of friction mathematical model of mechanical gyro kinetic pressure air-float bearing of inner is obtained, for opening for permanent magnet synchronous motor
Ring starts strategy design and provides theory support.
As shown in Figure 1, a kind of kinetic pressure air-float bearing of inner friction torque test method, as follows including step：
(1) mathematical model M (ω)=α of the moment of friction M of kinetic pressure air-float bearing of inner rotational speed omega and kinetic pressure air-float bearing of inner is establishedn
ωn+αn-1ωn-1+……+α1ω, n=1,2 ..., 10；
(2) according to the mathematical modulo established in the kinetics equation of the permanent magnet synchronous motor of kinetic pressure air-float bearing of inner and step (1)
Type formulates friction torque test experiment flow and data acquisition modes；
The kinetics equation of the permanent magnet synchronous motor of kinetic pressure air-float bearing of inner is：
Friction torque test experiment flow and data acquisition modes are specially：
Friction torque test experiment flow is：Permanent magnet synchronous motor is opened, waits for permanent magnet synchronous motor operation after five minutes,
Permanent magnet synchronous motor is closed, then is waited for 5 minutes；The above-mentioned experiment flow of repetition 10 times；
Sampling period is set as 25ms；
(3) the permanent magnet synchronous motor rotary speed data after being closed according to the permanent magnet synchronous motor acquired in step (2), using number
The parameter identification method of value calculating method and least square picks out the moment of friction model parameter of kinetic pressure air-float bearing of inner；
Specific method is：
When permanent magnet synchronous motor is closed, electromagnetic torque Te=0, kinetics equation is reduced to：
It can be obtained using numerical computation method：
It can be obtained according to least-squares parameter discrimination method：
(4) according to the discrimination method of step (3), pick out respectively n equal to 10,9 ..., 2,1 when moment of friction mathematical modulo
Type；
(5) mathematical model picked out according to step (4), using experiment measured data digital simulation degree error；
Use experiment measured data digital simulation degree error specific method for；
According to the mathematical model that step (4) picks out, calculated using equation below and obtain n group degree of fitting error Es：
(6) the degree of fitting error calculated according to step (5) determines the exponent number of final moment of friction mathematical model, determines final
Moment of friction mathematical model；
The specific method that the exponent number of final moment of friction mathematical model is determined according to degree of fitting error is：
Step 6.1：The curve between exponent number n and degree of fitting error is drawn, exponent number n is abscissa, and degree of fitting error E is vertical
Coordinate；
Step 6.2：Determine stable region of the degree of fitting error with exponent number n, stable region is defined as [0.9a, 1.1a]；A is
Degree of fitting error stationary value；Degree of fitting error stationary value refers to the plan acquired when degree of fitting error tends towards stability with exponent number n variations
Right average error；
Step 6.3：It will be as the exponent number of moment of friction mathematical model by the minimal order n for entering stable region.
(7) the moment of friction mathematical model determined according to step (6) according to the kinetics equation that step (3) describes, carries out
Mathematics resolves, and the permanent magnet synchronous motor with being acquired in step (2) close after permanent magnet synchronous motor rotary speed data carry out pair
Than verification mathematics resolves the permanent magnet synchronous motor rotating speed the result is that after the permanent magnet synchronous motor of acquisition is closed in no and step (2)
Data are consistent.
Embodiment
The present invention is as follows：
(1) mathematical model M (ω)=α of the moment of friction M of kinetic pressure air-float bearing of inner rotational speed omega and kinetic pressure air-float bearing of inner is establishedn
ωn+αn-1ωn-1+……+α1ω, n=1,2 ..., 10；
(2) according to the mathematical modulo established in the kinetics equation of the permanent magnet synchronous motor of kinetic pressure air-float bearing of inner and step (1)
Type formulates friction torque test experiment flow and data acquisition modes；
The kinetics equation of the permanent magnet synchronous motor of kinetic pressure air-float bearing of inner is：
Friction torque test experiment flow and data acquisition modes are specially：
Friction torque test experiment flow is：Permanent magnet synchronous motor is opened, waits for permanent magnet synchronous motor operation after five minutes,
Permanent magnet synchronous motor is closed, then is waited for 5 minutes；The above-mentioned experiment flow of repetition 10 times, as shown in Figure 2；
Sampling period is set as 25ms；
(3) the permanent magnet synchronous motor rotary speed data after being closed according to the permanent magnet synchronous motor acquired in step (2), such as Fig. 3
It is shown, using numerical computation method and the parameter identification method of least square, pick out the moment of friction mould of kinetic pressure air-float bearing of inner
Shape parameter；
Specific method is：
When permanent magnet synchronous motor is closed, electromagnetic torque Te=0, kinetics equation is reduced to：
It can be obtained using numerical computation method：
It can be obtained according to least-squares parameter discrimination method：
(4) according to the discrimination method of step (3), pick out respectively n equal to 10,9 ..., 2,1 when moment of friction mathematical modulo
Type, wherein Δ t=25ms, J=6.4 × 10-6N·m·s2, identification result is shown in Table 1；
The moment of friction parameter list of different model orders that table 1 is picked out for the method for the present invention；
(5) mathematical model picked out according to step (4), using experiment measured data digital simulation degree error；
Use experiment measured data digital simulation degree error specific method for；
According to the mathematical model that step (4) picks out, calculated using equation below and obtain n group degree of fitting error Es：
Using the method for this step, the differentiated friction moment model exponent number of calculating is with the data and curves of degree of fitting error as schemed
Shown in 4.
(6) the degree of fitting error calculated according to step (5) determines the exponent number of final moment of friction mathematical model, determines final
Moment of friction mathematical model；
The specific method that the exponent number of final moment of friction mathematical model is determined according to degree of fitting error is：
Step 6.1：The curve between exponent number n and degree of fitting error is drawn, exponent number n is abscissa, and degree of fitting error E is vertical
Coordinate；
Step 6.2：Determine stable region of the degree of fitting error with exponent number n, stable region be defined as [0.998a,
1.002a]；A is degree of fitting error stationary value；Degree of fitting error stationary value refers to when degree of fitting error tends towards stability with exponent number n variations
When the degree of fitting average error that acquires；
Step 6.3：It will be as the exponent number of moment of friction mathematical model by the minimal order n for entering stable region.
As can be seen from FIG. 4, the exponent number of moment of friction model is n=2；
(7) the moment of friction mathematical model determined according to step (6):
M (ω)=5.99 × 10-12×ω2+1.26×10-7×ω
According to the kinetics equation that step (3) describes, mathematics resolving is carried out, and the permanent magnetism with being acquired in step (2) is same
Permanent magnet synchronous motor rotary speed data after step motor is closed is compared, and verification mathematics is resolved the result is that being adopted in no (2) with step
Permanent magnet synchronous motor rotary speed data after the permanent magnet synchronous motor of collection is closed is consistent.
Verification result as shown in figure 5, as can be seen from Figure 5, according to the rotary speed data curve that moment of friction mathematical model calculates with
Measured data curve co-insides, the rotary speed data of calculating is consistent with measured data, and moment of friction mathematical model is accurate.
Unspecified part of the present invention belongs to common sense well known to those skilled in the art.
Claims (6)
- A kind of 1. in-orbit friction torque test method of kinetic pressure air-float bearing of inner, which is characterized in that as follows including step：(1) mathematical model M (ω)=α of the moment of friction M of kinetic pressure air-float bearing of inner rotational speed omega and kinetic pressure air-float bearing of inner is establishednωn+ αn-1ωn-1+……+α1ω, n=1,2 ..., 10；(2) according to the mathematical model established in the kinetics equation of the permanent magnet synchronous motor of kinetic pressure air-float bearing of inner and step (1), system Determine friction torque test experiment flow and data acquisition modes；Friction torque test experiment flow is：Open permanent magnet synchronous motor, period of the permanent magnet synchronous motor operation by setting Afterwards, permanent magnet synchronous motor is closed, using being then turned on permanent magnet synchronous motor after the period of setting；Repeat above-mentioned experiment stream Journey is several times；Data acquisition modes are：In using in the period for setting, the permanent magnet synchronous motor rotating speed after being closed to permanent magnet synchronous motor It is acquired；(3) the permanent magnet synchronous motor rotary speed data after being closed according to the permanent magnet synchronous motor acquired in step (2), using numerical value meter The parameter identification method of calculation method and least square picks out the moment of friction model parameter of kinetic pressure air-float bearing of inner；(4) according to the parameter identification method of step (3), obtain respectively n be equal to 10,9 ..., 2,1 when moment of friction mathematical model Parameter；(5) mathematical model picked out according to step (4), using experiment measured data digital simulation degree error E；(6) the degree of fitting error E calculated according to step (5) determines the exponent number of final moment of friction mathematical model, determines finally Moment of friction mathematical model；(7) the moment of friction mathematical model determined according to step (6) according to the kinetics equation that step (3) describes, carries out mathematics It resolves, and the permanent magnet synchronous motor rotary speed data after the permanent magnet synchronous motor closing with being acquired in step (2) is compared, and is verified Mathematics resolves the permanent magnet synchronous motor rotary speed data one the result is that after the no permanent magnet synchronous motor closing with acquisition in step (2) It causes.
- 2. a kind of in-orbit friction torque test method of kinetic pressure air-float bearing of inner according to claim 1, it is characterised in that：It is described The step of (2) formulate friction torque test experiment flow and data acquisition modes be specially：Friction torque test experiment flow is：Permanent magnet synchronous motor is opened, permanent magnet synchronous motor operation is waited for after five minutes, closes Permanent magnet synchronous motor, then wait for 5 minutes；The above-mentioned experiment flow of repetition 10 times；Sampling period is set as 25ms.
- 3. a kind of in-orbit friction torque test method of kinetic pressure air-float bearing of inner according to claim 1 or 2, it is characterised in that： The kinetics equation of the permanent magnet synchronous motor of kinetic pressure air-float bearing of inner is in the step (2)：Wherein, TeFor electromagnetic torque, J is the rotary inertia of permanent magnet synchronous motor.
- 4. a kind of in-orbit friction torque test method of kinetic pressure air-float bearing of inner according to claim 3, it is characterised in that：It is described The step of (3) specific method be：When permanent magnet synchronous motor is closed, electromagnetic torque Te=0, kinetics equation is reduced to：It can be obtained using numerical computation method：It can be obtained according to least-squares parameter discrimination method：Wherein, m is collected data amount check in step (2)；I=1,2,3 ..., m.
- 5. a kind of in-orbit friction torque test method of kinetic pressure air-float bearing of inner according to claim 1, it is characterised in that：It is described The step of (5) in use test measured data digital simulation degree error E specific method for；According to the mathematical model that step (4) picks out, calculated using equation below and obtain n group degree of fitting error Es：Wherein, ωiFor the experiment sampled data in step (2), M (ωi) it is the number of moment of friction picked out according to step (4) Learn the real-time moment of friction that model calculates.
- 6. a kind of in-orbit friction torque test method of kinetic pressure air-float bearing of inner according to claim 5, it is characterised in that：The step (6) determines that the specific method of the exponent number of final moment of friction mathematical model is according to degree of fitting error：Step 6.1：The curve between exponent number n and degree of fitting error is drawn, exponent number n is abscissa, and degree of fitting error E is sat to be vertical Mark；Step 6.2：Determine stable region of the degree of fitting error with exponent number n, stable region is defined as [0.998a, 1.002a]；A is Degree of fitting error stationary value；Degree of fitting error stationary value refers to the plan acquired when degree of fitting error tends towards stability with exponent number n variations Right average error；Step 6.3：It will be as the exponent number of moment of friction mathematical model by the minimal order n for entering stable region.
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| CN112721895A (en) * | 2021-01-26 | 2021-04-30 | 同济大学 | IEHB system master cylinder hydraulic pressure estimation method based on novel friction model |
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